Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 427 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 20 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 427 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2758 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 8 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 390 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 500 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1950 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 390

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 500

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 427 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 030920,161829,7301.2422,-14832.7490,0,4255.0,0,21.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.147,0.227

_CALLS 0 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 9.32 MHEAD_RNG_PITCHd_Wd 87.0,7174,-18.2,-8.462,-20.48,1768

_SM_ANGLEo -16.1 D_GRID 990

GPS2 030920,161829,7301.2422,-14832.7490,0,4255.0,0,21.7,0.0,0.0,0,0.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

FREEZE 9.17,-0.971,-1.230,2,9,0 _24V_AH 11.98,227.100

FINISH1 9.2,1.018081,484 _10V_AH 11.95,0.000

FINISH2 9.1 FG_AHR_24Vo 0.000

RAFOS_CLK 283 FG_AHR_10Vo 0.000

RAFOS_FIX 7300.252930,-14847.436523,040920,060653,0,1,0.16 MEM 334772

IRIDIUM_FIX 7318.60,-14727.13,010920,031827 DATA_FILE_SIZE 46626,1308

TT8_MAMPS 0.038199,0.286118 CAP_FILE_SIZE 155433,0

HUMID 52.28 CFSIZE 1047117824,987430912

INTERNAL_PRESSURE 8.74129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1454.8

XPDR_PINGS 126 GPS 040920,065053,7300.253,-14847.437,0,1001.0,0,21.7,0.0,0.0,0,0.0

SC_FREEKB 3628832

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 221 12.23 nil 0 0 0.00

Roll_motor 110 143 190.82 nil 0 0 0.00

VBD_pump_during_apogee 891 2305 24630.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 27224 9 3247.08

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 158.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 23360 2 644.86

TT8_Active 1003 9 111.80

TT8_Sampling 2684 27 875.73

TT8_CF8 244 37 110.55

TT8_Kalman 0 0 0.00

Analog_circuits 2049 10 266.94

GPS_charging 0 0 0.00

Compass 1998 6 161.00

RAFOS 4423 33 1744.21

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.73 -97.3 2896 2032 647 695 0.0 0.0 0 83 0.00 0.00 -71.80 0.003 16386 0.000 0.000 2896 2031 2983 3051 2916 0 0 0 0 0 0 14.57 28.83 14.59

85 -0.73 -97.3 2896 2031 3052 2918 12.4 -6.2 7 94 1.35 0.00 -4.53 0.024 20518 0.117 0.000 2479 2029 3161 3248 3074 0 0 0 0 0 0 14.07 12.45 14.16

410 -0.73 -97.3 2479 2030 3249 3070 74.8 -16.0 24 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2029 3159 3249 3069 0 0 0 0 0 0 14.59 14.62 14.62

770 -0.73 -97.3 2479 2030 3249 3068 123.1 -12.7 36 776 0.00 2.65 0.00 0.000 516 0.000 0.113 2479 632 3157 3249 3066 0 0 0 0 0 0 14.76 13.95 14.78

845 -0.73 -97.3 2479 633 3249 3066 133.1 -13.1 51 851 0.00 2.45 0.00 0.000 1030 0.000 0.090 2478 1960 3156 3248 3065 0 0 0 0 0 0 14.15 13.97 14.21

1221 -0.73 -97.3 2479 1962 3249 3066 177.9 -11.6 66 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1961 3156 3248 3065 0 0 0 0 0 0 14.61 14.64 14.64

1581 -0.73 -97.3 2479 1962 3252 3065 215.5 -10.0 78 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1956 3156 3249 3064 0 0 0 0 0 0 14.61 14.64 14.63

1941 -0.73 -97.3 2479 1963 3249 3064 249.0 -8.4 90 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 1961 3156 3249 3063 0 0 0 0 0 0 14.59 14.63 14.62

2301 -0.73 -97.3 2479 1962 3249 3064 278.5 -8.0 102 2306 0.00 2.67 0.00 0.000 260 0.000 0.111 2479 3370 3155 3248 3063 0 0 0 0 0 0 14.77 13.85 14.79

2376 -0.73 -97.3 2479 3371 3249 3064 284.7 -8.1 117 2382 0.00 2.40 0.00 0.000 1030 0.000 0.069 2479 2038 3155 3248 3063 0 0 0 0 0 0 14.19 14.03 14.24

2761 -0.73 -97.3 2479 2039 3249 3063 313.0 -7.2 132 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2039 3155 3249 3062 0 0 0 0 0 0 14.69 14.71 14.71

3112 -0.73 -97.3 2479 2041 3250 3062 337.0 -6.7 144 3113 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2039 3155 3248 3062 0 0 0 0 0 0 14.47 14.50 14.50

3472 -0.73 -97.3 2479 2040 3249 3063 361.7 -6.8 156 3477 0.00 2.58 0.00 0.000 260 0.000 0.108 2482 3375 3152 3249 3056 0 0 0 0 0 0 14.46 13.78 14.48

3527 -0.73 -97.3 2479 3374 3250 3062 365.4 -6.8 167 3533 0.00 2.45 0.00 0.000 1030 0.000 0.070 2479 2039 3154 3248 3061 0 0 0 0 0 0 14.06 13.91 14.11

3892 -0.73 -97.3 2479 2040 3250 3062 389.5 -6.6 180 3894 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2045 3154 3248 3061 0 0 0 0 0 0 14.45 14.47 14.47

4252 -0.73 -97.3 2479 2039 3249 3062 413.0 -6.5 192 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2039 3154 3248 3061 0 0 0 0 0 0 14.45 14.47 14.47

4612 -0.73 -97.3 2479 2039 3249 3062 435.8 -6.3 204 4617 0.00 2.58 0.00 0.000 292 0.000 0.109 2478 3375 3153 3248 3058 0 0 0 0 0 0 14.45 13.77 14.47

4687 -0.73 -97.3 2479 3375 3249 3062 440.7 -6.6 219 4692 0.00 2.45 0.00 0.000 1030 0.000 0.070 2479 2039 3155 3249 3061 0 0 0 0 0 0 14.06 13.91 14.11

5063 -0.73 -97.3 2479 2039 3249 3068 464.3 -6.3 234 5064 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2039 3154 3248 3061 0 0 0 0 0 0 14.53 14.55 14.56

5423 -0.73 -97.3 2479 2040 3249 3062 487.1 -6.4 246 5424 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2039 3155 3249 3061 0 0 0 0 0 0 14.55 14.58 14.57

5783 -0.73 -97.3 2479 2039 3249 3061 510.5 -6.5 258 5784 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2039 3155 3249 3061 0 0 0 0 0 0 14.56 14.59 14.59

6143 -0.73 -97.3 2477 2039 3249 3062 533.1 -6.3 270 6148 0.00 2.55 0.00 0.000 292 0.000 0.107 2479 3367 3154 3248 3061 0 0 0 0 0 0 14.57 13.75 14.59

6203 -0.73 -97.3 2479 3368 3250 3061 537.0 -6.5 282 6208 0.00 2.38 0.00 0.000 1030 0.000 0.068 2479 2033 3154 3249 3060 0 0 0 0 0 0 14.08 13.90 14.14

6594 -0.73 -97.3 2479 2034 3249 3061 560.9 -6.1 300 6595 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2033 3154 3248 3061 0 0 0 0 0 0 14.57 14.59 14.59

6954 -0.73 -97.3 2479 2036 3249 3062 582.9 -6.1 312 6958 0.00 2.58 0.00 0.000 292 0.000 0.106 2478 3373 3154 3248 3061 0 0 0 0 0 0 14.56 13.74 14.58

7004 -0.73 -97.3 2478 3374 3249 3061 586.1 -6.3 322 7009 0.00 2.42 0.00 0.000 1062 0.000 0.069 2479 2036 3154 3248 3061 0 0 0 0 0 0 14.10 13.95 14.16

7374 -0.73 -97.3 2480 2036 3249 3062 608.7 -6.1 336 7376 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2035 3155 3249 3061 0 0 0 0 0 0 14.56 14.59 14.58

7734 -0.73 -97.3 2479 2036 3249 3062 630.5 -6.1 348 7739 0.00 2.58 0.00 0.000 292 0.000 0.107 2478 3372 3154 3248 3061 0 0 0 0 0 0 14.55 13.71 14.57

7789 -0.73 -97.3 2479 3372 3249 3062 634.0 -6.3 359 7795 0.00 2.42 0.00 0.000 1062 0.000 0.070 2479 2041 3154 3248 3061 0 0 0 0 0 0 14.09 13.93 14.14

8155 -0.73 -97.3 2479 2041 3249 3062 656.2 -6.0 372 8156 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2041 3154 3248 3061 0 0 0 0 0 0 14.54 14.58 14.58

8515 -0.73 -97.3 2479 2041 3249 3062 677.8 -5.9 384 8520 0.00 2.55 0.00 0.000 292 0.000 0.107 2479 3372 3153 3248 3059 0 0 0 0 0 0 14.55 13.62 14.57

8570 -0.73 -97.3 2479 3372 3250 3062 681.3 -6.2 395 8576 0.00 2.42 0.00 0.000 1062 0.000 0.070 2479 2037 3154 3248 3061 0 0 0 0 0 0 14.08 13.92 14.14

8935 -0.73 -97.3 2479 2037 3249 3062 702.6 -5.8 408 8937 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3155 3249 3061 0 0 0 0 0 0 14.54 14.57 14.57

9295 -0.73 -97.3 2479 2037 3250 3062 723.1 -5.7 420 9300 0.00 2.58 0.00 0.000 292 0.000 0.107 2479 3372 3155 3249 3061 0 0 0 0 0 0 14.57 13.62 14.59

9355 -0.73 -97.3 2479 3373 3249 3062 726.8 -6.0 432 9360 0.00 2.45 0.00 0.000 1062 0.000 0.070 2479 2033 3154 3248 3061 0 0 0 0 0 0 14.00 13.83 14.07

9746 -0.73 -97.3 2479 2034 3250 3062 748.8 -5.6 450 9747 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2033 3154 3248 3061 0 0 0 0 0 0 14.54 14.57 14.57

10106 -0.73 -97.3 2479 2034 3249 3062 769.2 -5.7 462 10111 0.00 2.58 0.00 0.000 292 0.000 0.107 2478 3367 3155 3249 3061 0 0 0 0 0 0 14.54 13.66 14.57

10156 -0.73 -97.3 2478 3368 3249 3061 772.0 -5.9 472 10161 0.00 2.42 0.00 0.000 1062 0.000 0.069 2479 2036 3155 3249 3061 0 0 0 0 0 0 14.05 13.89 14.11

10527 -0.73 -97.3 2479 2037 3249 3061 793.2 -5.6 486 10529 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3249 3061 0 0 0 0 0 0 14.55 14.58 14.58

10887 -0.73 -97.3 2479 2037 3248 3061 813.9 -5.7 498 10888 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3154 3248 3061 0 0 0 0 0 0 14.53 14.57 14.56

11247 -0.73 -97.3 2479 2037 3250 3062 834.6 -5.7 510 11252 0.00 2.58 0.00 0.000 292 0.000 0.107 2479 3364 3154 3248 3061 0 0 0 0 0 0 14.53 13.65 14.55

11292 -0.73 -97.3 2477 3366 3249 3062 836.9 -5.9 519 11297 0.00 2.42 0.00 0.000 1062 0.000 0.070 2479 2036 3154 3248 3061 0 0 0 0 0 0 14.03 13.88 14.12

11668 -0.73 -97.3 2479 2037 3249 3062 857.7 -5.5 534 11669 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3154 3249 3060 0 0 0 0 0 0 14.75 14.78 14.77

12027 -0.73 -97.3 2479 2037 3249 3062 877.5 -5.5 546 12029 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3249 3061 0 0 0 0 0 0 14.52 14.54 14.54

12387 -0.73 -97.3 2479 2037 3250 3062 897.1 -5.4 558 12389 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3154 3248 3061 0 0 0 0 0 0 14.52 14.54 14.54

12748 -0.73 -97.3 2479 2037 3249 3061 916.9 -5.5 570 12749 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3249 3061 0 0 0 0 0 0 14.51 14.54 14.54

13107 -0.73 -97.3 2479 2037 3250 3062 936.7 -5.5 582 13109 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2037 3154 3248 3061 0 0 0 0 0 0 14.52 14.54 14.54

13467 -0.73 -97.3 2479 2036 3249 3062 956.3 -5.5 594 13472 0.00 2.58 0.00 0.000 292 0.000 0.108 2479 3366 3154 3248 3061 0 0 0 0 0 0 14.51 13.64 14.54

13512 -0.73 -97.3 2479 3367 3249 3062 959.8 -5.9 603 13517 0.00 2.42 0.00 0.000 1062 0.000 0.069 2479 2037 3154 3248 3061 0 0 0 0 0 0 14.02 13.87 14.08

13888 -0.73 -97.3 2479 2037 3249 3062 979.6 -5.5 618 13889 0.00 0.00 0.00 0.000 38 0.000 0.000 2479 2036 3155 3249 3061 0 0 0 0 0 0 14.51 14.54 14.54

14095 end dive: TARGET_DEPTH_EXCEEDED

state 14095 begin apogee

14101 -0.17 0.0 2480 2037 3249 3062 990.9 -5.4 625 14210 0.73 0.00 106.47 2.306 10246 0.222 0.000 2657 2036 2758 2878 2639 0 0 0 0 0 0 13.65 13.64 12.51

14211 end apogee: CONTROL_FINISHED_OK

state 14211 begin climb

14214 0.73 97.3 2657 2037 2877 2640 993.1 0.0 628 14334 1.00 2.88 109.28 2.240 10500 0.138 0.109 2945 3444 2359 2481 2238 0 0 0 0 0 0 13.63 13.16 11.98

14339 0.73 97.3 2946 3445 2475 2236 984.8 11.0 652 14344 0.00 2.58 0.00 0.000 1030 0.000 0.073 2945 2116 2357 2478 2237 0 0 0 0 0 0 13.41 13.29 13.44

14729 0.73 97.3 2950 2116 2469 2231 950.3 8.8 670 14731 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2116 2349 2469 2230 0 0 0 0 0 0 14.55 14.58 14.58

15089 0.73 97.3 2946 2117 2468 2229 918.9 8.7 682 15091 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2116 2347 2467 2228 0 0 0 0 0 0 14.64 14.67 14.67

15449 0.73 97.3 2946 2117 2468 2228 887.3 8.7 694 15454 0.00 2.53 0.00 0.000 260 0.000 0.109 2945 3453 2347 2467 2227 0 0 0 0 0 0 14.66 14.09 14.69

15484 0.73 97.3 2946 3454 2468 2228 884.4 10.1 701 15490 0.00 2.40 0.00 0.000 1030 0.000 0.073 2945 2118 2346 2466 2227 0 0 0 0 0 0 14.34 14.19 14.40

15870 0.73 97.3 2945 2119 2467 2227 849.8 8.8 718 15872 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2119 2343 2461 2226 0 0 0 0 0 0 14.65 14.69 14.70

16230 0.73 97.3 2946 2120 2467 2227 818.5 8.4 730 16232 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2119 2345 2465 2226 0 0 0 0 0 0 14.64 14.67 14.67

16590 0.73 97.3 2945 2119 2466 2228 787.7 8.5 742 16595 0.00 2.53 0.00 0.000 260 0.000 0.109 2945 3452 2345 2465 2226 0 0 0 0 0 0 14.64 14.01 14.66

16635 0.73 97.3 2951 3452 2465 2227 783.2 9.5 751 16640 0.00 2.42 0.00 0.000 1030 0.000 0.075 2945 2111 2345 2465 2226 0 0 0 0 0 0 14.27 14.12 14.35

17010 0.73 97.3 2944 2112 2465 2226 751.7 8.4 766 17012 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 2345 2465 2226 0 0 0 0 0 0 14.63 14.66 14.66

17370 0.73 97.3 2945 2112 2465 2226 721.5 8.4 778 17375 0.00 2.55 0.00 0.000 260 0.000 0.109 2945 3457 2345 2464 2226 0 0 0 0 0 0 14.54 13.99 14.58

17405 0.73 97.3 2945 3457 2460 2226 718.3 9.4 785 17411 0.00 2.42 0.00 0.000 1030 0.000 0.074 2945 2122 2349 2465 2234 0 0 0 0 0 0 14.19 14.03 14.26

17791 0.73 97.3 2947 2124 2460 2226 685.7 8.5 802 17793 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2122 2345 2465 2225 0 0 0 0 0 0 14.52 14.56 14.55

18151 0.73 97.3 2946 2123 2460 2226 655.5 8.3 814 18153 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2122 2342 2459 2225 0 0 0 0 0 0 14.52 14.54 14.54

18512 0.73 97.3 2946 2125 2466 2226 625.3 8.5 826 18513 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2122 2344 2464 2225 0 0 0 0 0 0 14.51 14.54 14.54

18871 0.73 97.3 2942 2123 2466 2227 595.5 8.3 838 18876 0.00 2.53 0.00 0.000 260 0.000 0.107 2945 3451 2344 2464 2225 0 0 0 0 0 0 14.51 13.95 14.54

18911 0.73 97.3 2945 3452 2466 2226 591.8 9.4 846 18916 0.00 2.42 0.00 0.000 1030 0.000 0.073 2945 2116 2344 2464 2225 0 0 0 0 0 0 14.17 14.02 14.23

19292 0.73 97.3 2945 2116 2464 2225 559.6 8.4 862 19293 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2116 2345 2465 2225 0 0 0 0 0 0 14.50 14.53 14.52

19652 0.73 97.3 2946 2117 2465 2225 530.0 8.1 874 19653 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2116 2345 2465 2225 0 0 0 0 0 0 14.58 14.62 14.61

20012 0.73 97.3 2945 2116 2465 2226 500.2 8.3 886 20013 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2116 2345 2465 2225 0 0 0 0 0 0 14.59 14.62 14.62

20372 0.73 97.3 2945 2116 2465 2226 470.9 8.0 898 20377 0.00 2.55 0.00 0.000 260 0.000 0.108 2945 3453 2344 2464 2225 0 0 0 0 0 0 14.59 13.88 14.62

20422 0.73 97.3 2946 3457 2466 2226 466.5 9.0 908 20427 0.00 2.42 0.00 0.000 1030 0.000 0.073 2945 2117 2345 2465 2225 0 0 0 0 0 0 14.17 14.01 14.25

20792 0.73 97.3 2945 2118 2464 2226 437.1 8.0 922 20794 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2117 2345 2465 2225 0 0 0 0 0 0 14.59 14.62 14.62

21153 0.75 97.3 2945 2118 2466 2227 408.9 7.8 934 21155 0.00 0.00 0.00 0.000 70 0.000 0.000 2946 2117 2344 2464 2225 0 0 0 0 0 0 14.59 14.62 14.61

21512 0.76 97.3 2945 2118 2465 2226 380.7 7.9 946 21514 0.00 0.00 0.00 0.000 70 0.000 0.000 2944 2117 2344 2464 2225 0 0 0 0 0 0 14.77 14.80 14.79

21872 0.78 97.3 2945 2118 2465 2226 353.2 7.6 958 21874 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2117 2344 2463 2225 0 0 0 0 0 0 14.77 14.80 14.79

22232 0.81 97.3 2945 2124 2464 2226 327.4 7.0 970 22234 0.00 0.00 0.00 0.000 70 0.000 0.000 2945 2117 2344 2464 2225 0 0 0 0 0 0 14.58 14.61 14.62

22592 0.84 97.3 2945 2118 2464 2225 302.7 6.7 982 22594 0.15 0.00 0.00 0.000 2118 0.128 0.000 3001 2117 2343 2465 2222 0 0 0 0 0 0 14.19 14.32 14.28

22952 0.84 97.3 3001 2118 2465 2226 273.0 8.3 994 22957 0.00 2.58 0.00 0.000 260 0.000 0.107 3001 3456 2344 2464 2225 0 0 0 0 0 0 14.59 13.83 14.62

23047 0.84 97.3 3001 3456 2465 2225 264.6 9.1 1013 23053 0.00 2.45 0.00 0.000 1030 0.000 0.073 3001 2119 2344 2464 2225 0 0 0 0 0 0 14.13 13.97 14.21

23433 0.90 139.1 3001 2119 2465 2225 238.5 6.0 1030 23479 0.00 2.58 37.35 1.477 8484 0.000 0.108 3001 3458 2189 2308 2070 0 0 0 0 0 0 14.57 14.14 13.22

23634 0.92 139.1 3002 3458 2302 2070 222.7 7.3 1070 23639 0.00 2.42 0.00 0.000 1094 0.000 0.073 3001 2108 2185 2301 2070 0 0 0 0 0 0 14.32 14.19 14.37

24005 0.97 176.1 3001 2109 2298 2069 199.1 6.3 1084 24041 0.00 0.00 34.70 1.418 8230 0.000 0.000 2998 2109 2037 2145 1930 0 0 0 0 0 0 14.73 14.12 13.22

24394 1.01 211.2 3001 2109 2133 1930 172.6 6.4 1097 24433 0.15 0.00 36.95 1.346 10790 0.135 0.000 3067 2108 1897 1994 1800 0 0 0 0 0 0 14.23 14.06 13.21

24786 1.01 211.2 3067 2109 1985 1797 135.1 9.5 1115 24788 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2108 1890 1984 1796 0 0 0 0 0 0 14.59 14.62 14.62

25144 1.01 211.2 3068 2109 1983 1795 103.8 8.4 1127 25149 0.00 2.67 0.00 0.000 516 0.000 0.117 3067 708 1888 1982 1795 0 0 0 0 0 0 14.56 13.95 14.59

25219 1.01 211.2 3068 708 1982 1795 97.6 8.4 1142 25224 0.00 2.45 0.00 0.000 1030 0.000 0.089 3067 2038 1888 1982 1794 0 0 0 0 0 0 14.16 13.95 14.21

25595 1.06 249.8 3067 2039 1981 1794 70.1 6.2 1157 25670 0.00 0.00 71.15 1.225 8742 0.000 0.000 3067 2038 1738 1824 1653 0 0 0 0 0 0 14.58 13.79 13.19

26047 1.17 335.5 3068 2038 1817 1654 46.5 3.5 1182 26227 0.00 0.00 174.07 1.174 8742 0.000 0.000 3067 2038 1388 1439 1338 0 0 0 0 0 0 14.57 13.59 13.04

26586 1.27 411.0 3069 2040 1436 1333 23.5 4.1 1213 26734 0.17 2.62 137.68 1.137 10788 0.127 0.115 3133 712 1081 1092 1071 0 0 0 0 0 0 14.17 13.85 13.11

26886 1.41 519.6 3133 713 1090 1070 10.1 2.2 1270 27079 0.12 2.45 184.05 1.110 11302 0.145 0.089 3185 2036 639 616 663 0 0 0 0 0 0 14.09 14.02 13.03

27172 end climb: NO_VERTICAL_VELOCITY

state 27172 begin subsurface finish

27177 0.63 483.8 3185 2037 615 662 9.2 -0.1 1307 27183 0.93 0.00 -3.67 0.030 20738 0.155 0.000 2921 2036 765 749 781 0 0 0 0 0 0 13.88 28.83 14.00

27184 end subsurface finish: NO_VERTICAL_VELOCITY

state 27184 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	427	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2758	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	8	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	390	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	500	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1950	ALTIM_PING_FIT	0

GPS1	030920,161829,7301.2422,-14832.7490,0,4255.0,0,21.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.147,0.227
_CALLS	0	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	9.32	MHEAD_RNG_PITCHd_Wd	87.0,7174,-18.2,-8.462,-20.48,1768
_SM_ANGLEo	-16.1	D_GRID	990
GPS2	030920,161829,7301.2422,-14832.7490,0,4255.0,0,21.7,0.0,0.0,0,0.0	EXEC	4,999,2,0.000000,0.000000

FREEZE	9.17,-0.971,-1.230,2,9,0	_24V_AH	11.98,227.100
FINISH1	9.2,1.018081,484	_10V_AH	11.95,0.000
FINISH2	9.1	FG_AHR_24Vo	0.000
RAFOS_CLK	283	FG_AHR_10Vo	0.000
RAFOS_FIX	7300.252930,-14847.436523,040920,060653,0,1,0.16	MEM	334772
IRIDIUM_FIX	7318.60,-14727.13,010920,031827	DATA_FILE_SIZE	46626,1308
TT8_MAMPS	0.038199,0.286118	CAP_FILE_SIZE	155433,0
HUMID	52.28	CFSIZE	1047117824,987430912
INTERNAL_PRESSURE	8.74129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1454.8
XPDR_PINGS	126	GPS	040920,065053,7300.253,-14847.437,0,1001.0,0,21.7,0.0,0.0,0,0.0
SC_FREEKB	3628832

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	221	12.23	nil	0	0	0.00
Roll_motor	110	143	190.82	nil	0	0	0.00
VBD_pump_during_apogee	891	2305	24630.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	27224	9	3247.08
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	158.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	23360	2	644.86
TT8_Active	1003	9	111.80
TT8_Sampling	2684	27	875.73
TT8_CF8	244	37	110.55
TT8_Kalman	0	0	0.00
Analog_circuits	2049	10	266.94
GPS_charging	0	0	0.00
Compass	1998	6	161.00
RAFOS	4423	33	1744.21
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.73	-97.3	2896	2032	647	695	0.0	0.0	0	83	0.00	0.00	-71.80	0.003	16386	0.000	0.000	2896	2031	2983	3051	2916	0	0	0	0	0	0	14.57	28.83	14.59
85	-0.73	-97.3	2896	2031	3052	2918	12.4	-6.2	7	94	1.35	0.00	-4.53	0.024	20518	0.117	0.000	2479	2029	3161	3248	3074	0	0	0	0	0	0	14.07	12.45	14.16
410	-0.73	-97.3	2479	2030	3249	3070	74.8	-16.0	24	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2029	3159	3249	3069	0	0	0	0	0	0	14.59	14.62	14.62
770	-0.73	-97.3	2479	2030	3249	3068	123.1	-12.7	36	776	0.00	2.65	0.00	0.000	516	0.000	0.113	2479	632	3157	3249	3066	0	0	0	0	0	0	14.76	13.95	14.78
845	-0.73	-97.3	2479	633	3249	3066	133.1	-13.1	51	851	0.00	2.45	0.00	0.000	1030	0.000	0.090	2478	1960	3156	3248	3065	0	0	0	0	0	0	14.15	13.97	14.21
1221	-0.73	-97.3	2479	1962	3249	3066	177.9	-11.6	66	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1961	3156	3248	3065	0	0	0	0	0	0	14.61	14.64	14.64
1581	-0.73	-97.3	2479	1962	3252	3065	215.5	-10.0	78	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1956	3156	3249	3064	0	0	0	0	0	0	14.61	14.64	14.63
1941	-0.73	-97.3	2479	1963	3249	3064	249.0	-8.4	90	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	1961	3156	3249	3063	0	0	0	0	0	0	14.59	14.63	14.62
2301	-0.73	-97.3	2479	1962	3249	3064	278.5	-8.0	102	2306	0.00	2.67	0.00	0.000	260	0.000	0.111	2479	3370	3155	3248	3063	0	0	0	0	0	0	14.77	13.85	14.79
2376	-0.73	-97.3	2479	3371	3249	3064	284.7	-8.1	117	2382	0.00	2.40	0.00	0.000	1030	0.000	0.069	2479	2038	3155	3248	3063	0	0	0	0	0	0	14.19	14.03	14.24
2761	-0.73	-97.3	2479	2039	3249	3063	313.0	-7.2	132	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2039	3155	3249	3062	0	0	0	0	0	0	14.69	14.71	14.71
3112	-0.73	-97.3	2479	2041	3250	3062	337.0	-6.7	144	3113	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2039	3155	3248	3062	0	0	0	0	0	0	14.47	14.50	14.50
3472	-0.73	-97.3	2479	2040	3249	3063	361.7	-6.8	156	3477	0.00	2.58	0.00	0.000	260	0.000	0.108	2482	3375	3152	3249	3056	0	0	0	0	0	0	14.46	13.78	14.48
3527	-0.73	-97.3	2479	3374	3250	3062	365.4	-6.8	167	3533	0.00	2.45	0.00	0.000	1030	0.000	0.070	2479	2039	3154	3248	3061	0	0	0	0	0	0	14.06	13.91	14.11
3892	-0.73	-97.3	2479	2040	3250	3062	389.5	-6.6	180	3894	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2045	3154	3248	3061	0	0	0	0	0	0	14.45	14.47	14.47
4252	-0.73	-97.3	2479	2039	3249	3062	413.0	-6.5	192	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2039	3154	3248	3061	0	0	0	0	0	0	14.45	14.47	14.47
4612	-0.73	-97.3	2479	2039	3249	3062	435.8	-6.3	204	4617	0.00	2.58	0.00	0.000	292	0.000	0.109	2478	3375	3153	3248	3058	0	0	0	0	0	0	14.45	13.77	14.47
4687	-0.73	-97.3	2479	3375	3249	3062	440.7	-6.6	219	4692	0.00	2.45	0.00	0.000	1030	0.000	0.070	2479	2039	3155	3249	3061	0	0	0	0	0	0	14.06	13.91	14.11
5063	-0.73	-97.3	2479	2039	3249	3068	464.3	-6.3	234	5064	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2039	3154	3248	3061	0	0	0	0	0	0	14.53	14.55	14.56
5423	-0.73	-97.3	2479	2040	3249	3062	487.1	-6.4	246	5424	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2039	3155	3249	3061	0	0	0	0	0	0	14.55	14.58	14.57
5783	-0.73	-97.3	2479	2039	3249	3061	510.5	-6.5	258	5784	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2039	3155	3249	3061	0	0	0	0	0	0	14.56	14.59	14.59
6143	-0.73	-97.3	2477	2039	3249	3062	533.1	-6.3	270	6148	0.00	2.55	0.00	0.000	292	0.000	0.107	2479	3367	3154	3248	3061	0	0	0	0	0	0	14.57	13.75	14.59
6203	-0.73	-97.3	2479	3368	3250	3061	537.0	-6.5	282	6208	0.00	2.38	0.00	0.000	1030	0.000	0.068	2479	2033	3154	3249	3060	0	0	0	0	0	0	14.08	13.90	14.14
6594	-0.73	-97.3	2479	2034	3249	3061	560.9	-6.1	300	6595	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2033	3154	3248	3061	0	0	0	0	0	0	14.57	14.59	14.59
6954	-0.73	-97.3	2479	2036	3249	3062	582.9	-6.1	312	6958	0.00	2.58	0.00	0.000	292	0.000	0.106	2478	3373	3154	3248	3061	0	0	0	0	0	0	14.56	13.74	14.58
7004	-0.73	-97.3	2478	3374	3249	3061	586.1	-6.3	322	7009	0.00	2.42	0.00	0.000	1062	0.000	0.069	2479	2036	3154	3248	3061	0	0	0	0	0	0	14.10	13.95	14.16
7374	-0.73	-97.3	2480	2036	3249	3062	608.7	-6.1	336	7376	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2035	3155	3249	3061	0	0	0	0	0	0	14.56	14.59	14.58
7734	-0.73	-97.3	2479	2036	3249	3062	630.5	-6.1	348	7739	0.00	2.58	0.00	0.000	292	0.000	0.107	2478	3372	3154	3248	3061	0	0	0	0	0	0	14.55	13.71	14.57
7789	-0.73	-97.3	2479	3372	3249	3062	634.0	-6.3	359	7795	0.00	2.42	0.00	0.000	1062	0.000	0.070	2479	2041	3154	3248	3061	0	0	0	0	0	0	14.09	13.93	14.14
8155	-0.73	-97.3	2479	2041	3249	3062	656.2	-6.0	372	8156	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2041	3154	3248	3061	0	0	0	0	0	0	14.54	14.58	14.58
8515	-0.73	-97.3	2479	2041	3249	3062	677.8	-5.9	384	8520	0.00	2.55	0.00	0.000	292	0.000	0.107	2479	3372	3153	3248	3059	0	0	0	0	0	0	14.55	13.62	14.57
8570	-0.73	-97.3	2479	3372	3250	3062	681.3	-6.2	395	8576	0.00	2.42	0.00	0.000	1062	0.000	0.070	2479	2037	3154	3248	3061	0	0	0	0	0	0	14.08	13.92	14.14
8935	-0.73	-97.3	2479	2037	3249	3062	702.6	-5.8	408	8937	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3155	3249	3061	0	0	0	0	0	0	14.54	14.57	14.57
9295	-0.73	-97.3	2479	2037	3250	3062	723.1	-5.7	420	9300	0.00	2.58	0.00	0.000	292	0.000	0.107	2479	3372	3155	3249	3061	0	0	0	0	0	0	14.57	13.62	14.59
9355	-0.73	-97.3	2479	3373	3249	3062	726.8	-6.0	432	9360	0.00	2.45	0.00	0.000	1062	0.000	0.070	2479	2033	3154	3248	3061	0	0	0	0	0	0	14.00	13.83	14.07
9746	-0.73	-97.3	2479	2034	3250	3062	748.8	-5.6	450	9747	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2033	3154	3248	3061	0	0	0	0	0	0	14.54	14.57	14.57
10106	-0.73	-97.3	2479	2034	3249	3062	769.2	-5.7	462	10111	0.00	2.58	0.00	0.000	292	0.000	0.107	2478	3367	3155	3249	3061	0	0	0	0	0	0	14.54	13.66	14.57
10156	-0.73	-97.3	2478	3368	3249	3061	772.0	-5.9	472	10161	0.00	2.42	0.00	0.000	1062	0.000	0.069	2479	2036	3155	3249	3061	0	0	0	0	0	0	14.05	13.89	14.11
10527	-0.73	-97.3	2479	2037	3249	3061	793.2	-5.6	486	10529	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3249	3061	0	0	0	0	0	0	14.55	14.58	14.58
10887	-0.73	-97.3	2479	2037	3248	3061	813.9	-5.7	498	10888	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3154	3248	3061	0	0	0	0	0	0	14.53	14.57	14.56
11247	-0.73	-97.3	2479	2037	3250	3062	834.6	-5.7	510	11252	0.00	2.58	0.00	0.000	292	0.000	0.107	2479	3364	3154	3248	3061	0	0	0	0	0	0	14.53	13.65	14.55
11292	-0.73	-97.3	2477	3366	3249	3062	836.9	-5.9	519	11297	0.00	2.42	0.00	0.000	1062	0.000	0.070	2479	2036	3154	3248	3061	0	0	0	0	0	0	14.03	13.88	14.12
11668	-0.73	-97.3	2479	2037	3249	3062	857.7	-5.5	534	11669	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3154	3249	3060	0	0	0	0	0	0	14.75	14.78	14.77
12027	-0.73	-97.3	2479	2037	3249	3062	877.5	-5.5	546	12029	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3249	3061	0	0	0	0	0	0	14.52	14.54	14.54
12387	-0.73	-97.3	2479	2037	3250	3062	897.1	-5.4	558	12389	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3154	3248	3061	0	0	0	0	0	0	14.52	14.54	14.54
12748	-0.73	-97.3	2479	2037	3249	3061	916.9	-5.5	570	12749	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3249	3061	0	0	0	0	0	0	14.51	14.54	14.54
13107	-0.73	-97.3	2479	2037	3250	3062	936.7	-5.5	582	13109	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2037	3154	3248	3061	0	0	0	0	0	0	14.52	14.54	14.54
13467	-0.73	-97.3	2479	2036	3249	3062	956.3	-5.5	594	13472	0.00	2.58	0.00	0.000	292	0.000	0.108	2479	3366	3154	3248	3061	0	0	0	0	0	0	14.51	13.64	14.54
13512	-0.73	-97.3	2479	3367	3249	3062	959.8	-5.9	603	13517	0.00	2.42	0.00	0.000	1062	0.000	0.069	2479	2037	3154	3248	3061	0	0	0	0	0	0	14.02	13.87	14.08
13888	-0.73	-97.3	2479	2037	3249	3062	979.6	-5.5	618	13889	0.00	0.00	0.00	0.000	38	0.000	0.000	2479	2036	3155	3249	3061	0	0	0	0	0	0	14.51	14.54	14.54
14095	end dive: TARGET_DEPTH_EXCEEDED
state	14095	begin apogee
14101	-0.17	0.0	2480	2037	3249	3062	990.9	-5.4	625	14210	0.73	0.00	106.47	2.306	10246	0.222	0.000	2657	2036	2758	2878	2639	0	0	0	0	0	0	13.65	13.64	12.51
14211	end apogee: CONTROL_FINISHED_OK
state	14211	begin climb
14214	0.73	97.3	2657	2037	2877	2640	993.1	0.0	628	14334	1.00	2.88	109.28	2.240	10500	0.138	0.109	2945	3444	2359	2481	2238	0	0	0	0	0	0	13.63	13.16	11.98
14339	0.73	97.3	2946	3445	2475	2236	984.8	11.0	652	14344	0.00	2.58	0.00	0.000	1030	0.000	0.073	2945	2116	2357	2478	2237	0	0	0	0	0	0	13.41	13.29	13.44
14729	0.73	97.3	2950	2116	2469	2231	950.3	8.8	670	14731	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2116	2349	2469	2230	0	0	0	0	0	0	14.55	14.58	14.58
15089	0.73	97.3	2946	2117	2468	2229	918.9	8.7	682	15091	0.00	0.00	0.00	0.000	6	0.000	0.000	2943	2116	2347	2467	2228	0	0	0	0	0	0	14.64	14.67	14.67
15449	0.73	97.3	2946	2117	2468	2228	887.3	8.7	694	15454	0.00	2.53	0.00	0.000	260	0.000	0.109	2945	3453	2347	2467	2227	0	0	0	0	0	0	14.66	14.09	14.69
15484	0.73	97.3	2946	3454	2468	2228	884.4	10.1	701	15490	0.00	2.40	0.00	0.000	1030	0.000	0.073	2945	2118	2346	2466	2227	0	0	0	0	0	0	14.34	14.19	14.40
15870	0.73	97.3	2945	2119	2467	2227	849.8	8.8	718	15872	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2119	2343	2461	2226	0	0	0	0	0	0	14.65	14.69	14.70
16230	0.73	97.3	2946	2120	2467	2227	818.5	8.4	730	16232	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2119	2345	2465	2226	0	0	0	0	0	0	14.64	14.67	14.67
16590	0.73	97.3	2945	2119	2466	2228	787.7	8.5	742	16595	0.00	2.53	0.00	0.000	260	0.000	0.109	2945	3452	2345	2465	2226	0	0	0	0	0	0	14.64	14.01	14.66
16635	0.73	97.3	2951	3452	2465	2227	783.2	9.5	751	16640	0.00	2.42	0.00	0.000	1030	0.000	0.075	2945	2111	2345	2465	2226	0	0	0	0	0	0	14.27	14.12	14.35
17010	0.73	97.3	2944	2112	2465	2226	751.7	8.4	766	17012	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	2345	2465	2226	0	0	0	0	0	0	14.63	14.66	14.66
17370	0.73	97.3	2945	2112	2465	2226	721.5	8.4	778	17375	0.00	2.55	0.00	0.000	260	0.000	0.109	2945	3457	2345	2464	2226	0	0	0	0	0	0	14.54	13.99	14.58
17405	0.73	97.3	2945	3457	2460	2226	718.3	9.4	785	17411	0.00	2.42	0.00	0.000	1030	0.000	0.074	2945	2122	2349	2465	2234	0	0	0	0	0	0	14.19	14.03	14.26
17791	0.73	97.3	2947	2124	2460	2226	685.7	8.5	802	17793	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2122	2345	2465	2225	0	0	0	0	0	0	14.52	14.56	14.55
18151	0.73	97.3	2946	2123	2460	2226	655.5	8.3	814	18153	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2122	2342	2459	2225	0	0	0	0	0	0	14.52	14.54	14.54
18512	0.73	97.3	2946	2125	2466	2226	625.3	8.5	826	18513	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2122	2344	2464	2225	0	0	0	0	0	0	14.51	14.54	14.54
18871	0.73	97.3	2942	2123	2466	2227	595.5	8.3	838	18876	0.00	2.53	0.00	0.000	260	0.000	0.107	2945	3451	2344	2464	2225	0	0	0	0	0	0	14.51	13.95	14.54
18911	0.73	97.3	2945	3452	2466	2226	591.8	9.4	846	18916	0.00	2.42	0.00	0.000	1030	0.000	0.073	2945	2116	2344	2464	2225	0	0	0	0	0	0	14.17	14.02	14.23
19292	0.73	97.3	2945	2116	2464	2225	559.6	8.4	862	19293	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2116	2345	2465	2225	0	0	0	0	0	0	14.50	14.53	14.52
19652	0.73	97.3	2946	2117	2465	2225	530.0	8.1	874	19653	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2116	2345	2465	2225	0	0	0	0	0	0	14.58	14.62	14.61
20012	0.73	97.3	2945	2116	2465	2226	500.2	8.3	886	20013	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2116	2345	2465	2225	0	0	0	0	0	0	14.59	14.62	14.62
20372	0.73	97.3	2945	2116	2465	2226	470.9	8.0	898	20377	0.00	2.55	0.00	0.000	260	0.000	0.108	2945	3453	2344	2464	2225	0	0	0	0	0	0	14.59	13.88	14.62
20422	0.73	97.3	2946	3457	2466	2226	466.5	9.0	908	20427	0.00	2.42	0.00	0.000	1030	0.000	0.073	2945	2117	2345	2465	2225	0	0	0	0	0	0	14.17	14.01	14.25
20792	0.73	97.3	2945	2118	2464	2226	437.1	8.0	922	20794	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2117	2345	2465	2225	0	0	0	0	0	0	14.59	14.62	14.62
21153	0.75	97.3	2945	2118	2466	2227	408.9	7.8	934	21155	0.00	0.00	0.00	0.000	70	0.000	0.000	2946	2117	2344	2464	2225	0	0	0	0	0	0	14.59	14.62	14.61
21512	0.76	97.3	2945	2118	2465	2226	380.7	7.9	946	21514	0.00	0.00	0.00	0.000	70	0.000	0.000	2944	2117	2344	2464	2225	0	0	0	0	0	0	14.77	14.80	14.79
21872	0.78	97.3	2945	2118	2465	2226	353.2	7.6	958	21874	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2117	2344	2463	2225	0	0	0	0	0	0	14.77	14.80	14.79
22232	0.81	97.3	2945	2124	2464	2226	327.4	7.0	970	22234	0.00	0.00	0.00	0.000	70	0.000	0.000	2945	2117	2344	2464	2225	0	0	0	0	0	0	14.58	14.61	14.62
22592	0.84	97.3	2945	2118	2464	2225	302.7	6.7	982	22594	0.15	0.00	0.00	0.000	2118	0.128	0.000	3001	2117	2343	2465	2222	0	0	0	0	0	0	14.19	14.32	14.28
22952	0.84	97.3	3001	2118	2465	2226	273.0	8.3	994	22957	0.00	2.58	0.00	0.000	260	0.000	0.107	3001	3456	2344	2464	2225	0	0	0	0	0	0	14.59	13.83	14.62
23047	0.84	97.3	3001	3456	2465	2225	264.6	9.1	1013	23053	0.00	2.45	0.00	0.000	1030	0.000	0.073	3001	2119	2344	2464	2225	0	0	0	0	0	0	14.13	13.97	14.21
23433	0.90	139.1	3001	2119	2465	2225	238.5	6.0	1030	23479	0.00	2.58	37.35	1.477	8484	0.000	0.108	3001	3458	2189	2308	2070	0	0	0	0	0	0	14.57	14.14	13.22
23634	0.92	139.1	3002	3458	2302	2070	222.7	7.3	1070	23639	0.00	2.42	0.00	0.000	1094	0.000	0.073	3001	2108	2185	2301	2070	0	0	0	0	0	0	14.32	14.19	14.37
24005	0.97	176.1	3001	2109	2298	2069	199.1	6.3	1084	24041	0.00	0.00	34.70	1.418	8230	0.000	0.000	2998	2109	2037	2145	1930	0	0	0	0	0	0	14.73	14.12	13.22
24394	1.01	211.2	3001	2109	2133	1930	172.6	6.4	1097	24433	0.15	0.00	36.95	1.346	10790	0.135	0.000	3067	2108	1897	1994	1800	0	0	0	0	0	0	14.23	14.06	13.21
24786	1.01	211.2	3067	2109	1985	1797	135.1	9.5	1115	24788	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2108	1890	1984	1796	0	0	0	0	0	0	14.59	14.62	14.62
25144	1.01	211.2	3068	2109	1983	1795	103.8	8.4	1127	25149	0.00	2.67	0.00	0.000	516	0.000	0.117	3067	708	1888	1982	1795	0	0	0	0	0	0	14.56	13.95	14.59
25219	1.01	211.2	3068	708	1982	1795	97.6	8.4	1142	25224	0.00	2.45	0.00	0.000	1030	0.000	0.089	3067	2038	1888	1982	1794	0	0	0	0	0	0	14.16	13.95	14.21
25595	1.06	249.8	3067	2039	1981	1794	70.1	6.2	1157	25670	0.00	0.00	71.15	1.225	8742	0.000	0.000	3067	2038	1738	1824	1653	0	0	0	0	0	0	14.58	13.79	13.19
26047	1.17	335.5	3068	2038	1817	1654	46.5	3.5	1182	26227	0.00	0.00	174.07	1.174	8742	0.000	0.000	3067	2038	1388	1439	1338	0	0	0	0	0	0	14.57	13.59	13.04
26586	1.27	411.0	3069	2040	1436	1333	23.5	4.1	1213	26734	0.17	2.62	137.68	1.137	10788	0.127	0.115	3133	712	1081	1092	1071	0	0	0	0	0	0	14.17	13.85	13.11
26886	1.41	519.6	3133	713	1090	1070	10.1	2.2	1270	27079	0.12	2.45	184.05	1.110	11302	0.145	0.089	3185	2036	639	616	663	0	0	0	0	0	0	14.09	14.02	13.03
27172	end climb: NO_VERTICAL_VELOCITY
state	27172	begin subsurface finish
27177	0.63	483.8	3185	2037	615	662	9.2	-0.1	1307	27183	0.93	0.00	-3.67	0.030	20738	0.155	0.000	2921	2036	765	749	781	0	0	0	0	0	0	13.88	28.83	14.00
27184	end subsurface finish: NO_VERTICAL_VELOCITY
state	27184	begin surface